cmake_minimum_required(VERSION 3.8)
project(bot_astar)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)  # 添加这一行
find_package(tf2_ros REQUIRED)
find_package(visualization_msgs REQUIRED)



# 添加源文件并生成可执行文件
add_executable(bot_astar_node src/bot_astar_node.cpp)

# 链接依赖的库
ament_target_dependencies(bot_astar_node
  rclcpp
  nav_msgs
  sensor_msgs
  geometry_msgs
  tf2
  tf2_geometry_msgs
  tf2_ros
  visualization_msgs
)

install(TARGETS
  bot_astar_node
  DESTINATION lib/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
